in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

in this paper, finite element elastic contact analysis of a functionally graded (fg) hollow brake disk in contact with pad, subjected to rotation, contact pressure and frictional heat is presented. the material properties vary through the thickness according to a power-law characterised by a grading index, n. the material property is purely steel at the core part and gradually moves and approac...

in this paper, we investigate a singular perturbation problem including a fourth order o.d.e. with general linear boundary conditions. firstly, we obtain the necessary conditions of solution of o.d.e. by making use of fundamental solution, then by compatibility of these conditions with boundary conditions, we determine that, for given perturbation problem, whether boundary layer is formed or not.

In this article, the effects of viscous dissipation and inertial force on the velocity and temperature distributions of the mixed convection laminar flow in a vertical channel partly filled with a saturated porous medium have been studied. In this regard, the Brinkman–Forchheimer extended Darcy model was adopted for the fluid flow in the porous region. In addition, three different viscous dissi...

in the present work, a hybrid of fourier transform and homotopy perturbation method is developed for solving the non-homogeneous partial differential equations with variable coefficients. the fourier transform is employed with combination of homotopy perturbation method (hpm), the so called fourier transform homotopy perturbation method (fthpm) to solve the partial differential equations. the c...

in this paper, we consider the inhomogeneous time-fractional nonlinear fisher equation with three known boundary conditions. we first apply a modified homotopy perturbation method for translating the proposed problem to a set of linear problems. then we use the separation variables  method to solve obtained problems. in examples, we illustrate that by right choice of source term in the modified...

State-of-the-art deep NLP models have achieved impressive improvements on many tasks. However, they are found to be vulnerable some perturbations. Before widely adopted, the fundamental issues of robustness need addressed. In this paper, we design a enhancement method defend against word substitution perturbation, whose basic idea is fight perturbation with perturbation. We find that: although ...